DocumentCode
2140343
Title
Performance evaluation criteria for analysis and design of robotic specimens
Author
Gao, Feng ; Gruver, William A.
Author_Institution
Intelligent Robotics & Manuf. Syst. Lab., Simon Fraser Univ., Burnaby, BC, Canada
fYear
1997
fDate
7-9 Jul 1997
Firstpage
879
Lastpage
884
Abstract
In this research we develop criteria for analyzing robotic mechanisms based on workspace geometry, singularities, and indices for global conditioning, global velocity, global payload, global deformation and global errors. These criteria provide a basis for performance evaluation and optimal design
Keywords
deformation; error analysis; manipulator dynamics; manipulator kinematics; performance index; dynamics; global conditioning; global deformation; global errors; global payload; global velocity; kinematics; manipulators; performance evaluation; robotic mechanisms; singularities; workspace geometry; Angular velocity; Computational geometry; Controllability; Design engineering; Intelligent robots; Kinematics; Laboratories; Manufacturing systems; Payloads; Performance analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location
Monterey, CA
Print_ISBN
0-7803-4160-0
Type
conf
DOI
10.1109/ICAR.1997.620285
Filename
620285
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